CN207360449U - A kind of adaptive vola mechanism of quadruped robot - Google Patents

Abstract

The utility model discloses a kind of adaptive vola mechanism of quadruped robot, from top to bottom include upper sole and sole, it is connected between the upper sole and sole by some equally distributed hexagon socket head cap screws, the damping spring being cased with every hexagon socket head cap screw between upper sole and sole；Every hexagon socket head cap screw is flexibly connected by plain radial bearing with the upper sole.The utility model can solve the problems, such as that generally rigid vola landform adaptability is poor by the spring structure between two pieces of soles and plain radial bearing, be conducive to the adjustment of robot pose, improve robot to the adaptability of complicated ground and the service life of robot component.Adaptive ability is strong, easy to adjust quick, portable good, and structure is simple and easy to implement and is easy to safeguard.

Description

An Adaptive Foot Mechanism for a Quadruped Robot

technical field

The utility model relates to the field of quadruped robots, in particular to an adaptive foot sole mechanism of a quadruped robot.

Background technique

Robot foot design has become an important task in the design of legged robots. Its structure and function affect the robot's motion stability and flexibility, as well as its ability to adapt to complex environments. The traditional approach is usually to design it as a rigid body, and the robot directly impacts the ground without any buffer device. This design will reduce the life of the robot components, and irregular vibrations will also damage the control devices of the robot. The rigid foot design is not conducive to the adjustment of the robot's attitude, reduces the adaptability of the robot to complex ground and reduces the life of the robot components. Therefore, it is necessary to design a quadruped robot foot structure with strong adaptive ability, convenient and quick adjustment, good portability and easy maintenance.

Utility model content

The purpose of the self-adaptive sole of the quadruped robot of the present invention is to overcome the deficiencies in the prior art, and provide a self-adaptive sole mechanism that can adapt to various terrains and keep the robot body parallel when encountering small obstacles , in order to solve the general rigid plantar terrain adaptability and low life problems.

The new technical scheme that the above-mentioned technical problem that the utility model will solve adopts realizes like this:

An adaptive foot mechanism of a quadruped robot, comprising an upper foot plate and a sole plate from top to bottom, the upper foot plate and the sole plate are connected by a number of uniformly distributed hexagon socket bolts, and each hexagon socket bolt has a A shock-absorbing spring is sheathed between the upper foot plate and the sole of the foot; each inner hexagon bolt is movably connected with the upper foot plate through a radial joint bearing.

Further, the upper foot plate and the sole plate are connected by three evenly distributed hexagon socket head bolts.

Further, the foot plate is mounted on the hexagon socket bolt through a diameter reducing block, and locknuts matching the hexagon socket bolt are fixed up and down on the diameter reducing block.

Furthermore, several replaceable anti-slip parts are evenly provided on the bottom surface of the sole plate.

Further, the anti-slip component includes three columnar anti-slip pads, and the anti-slip pads 4 are evenly distributed in a triangular shape.

Further, the anti-slip mats are rubber anti-slip mats, PVC anti-slip mats, PU anti-slip mats, AB glue anti-slip mats, silicone anti-slip mats or magic glue anti-slip mats.

Further, both the upper foot plate and the sole plate are provided with hollow parts for lightening the weight.

Further, the sole plate is a circular plate-shaped structure.

Further, both the upper foot plate and the sole plate are made of aluminum alloy.

Compared with the prior art, the utility model can solve the problem of poor terrain adaptability of general rigid soles through the spring structure between the two foot plates and the centripetal joint bearing, which is beneficial to the adjustment of the robot's posture and improves the robot's adaptability to complex ground capabilities and longevity of robot components. It has strong adaptive ability, convenient and fast adjustment, good portability, simple structure, easy realization and easy maintenance.

Description of drawings

Fig. 1 is a schematic front view of the overall structure of the embodiment of the utility model.

Fig. 2 is a three-dimensional schematic diagram of the overall structure of the embodiment of the utility model.

Explanation of the labels of the components in the schematic diagram:

1-shock-absorbing spring, 2-lock nut, 3-sole plate, 4-anti-slip pad, 5-diameter reducing block, 6-central joint bearing, 7-upper foot plate, 8-hexagon socket bolt.

Detailed ways

Below in conjunction with accompanying drawing, the technical scheme of the utility model is described further.

As shown in Figures 1 and 2, a self-adaptive sole mechanism of a quadruped robot includes an upper foot plate 7 and a circular plate-like structure foot sole 3 from top to bottom, the upper foot plate 7 and the foot sole 3 The space is connected by three uniformly distributed hexagon socket bolts 8, and each hexagon socket bolt 8 is covered with a damping spring 1 located between the upper foot plate 7 and the sole plate 3; each hexagon socket bolt 8 passes through the centripetal joint The bearing 6 is movably connected with the upper foot plate 7 .

The foot plate 3 is installed on the hexagon socket bolt 8 through the diameter reducing block 5, and the lock nut 2 matched with the hexagon socket bolt 8 is fixed up and down on the diameter reducing block 5, and it is also effectively prevented after tightening. loose.

The bottom surface of the sole plate 3 is evenly provided with three replaceable columnar anti-slip pads 4 for increasing the friction with the road surface. The anti-slip pads 4 are evenly distributed in a triangle and adopt rubber anti-slip pads, PVC anti-slip pads, PU Anti-slip mat, AB glue anti-slip mat, silicone anti-slip mat or magic glue anti-slip mat.

In addition, both the upper foot plate 7 and the foot sole plate 3 are provided with hollowed out parts, which reduce the weight without affecting the mechanical strength.

In this embodiment, the upper foot plate 7 and the sole plate 3 are made of aluminum alloy, which can further reduce the weight of the sole mechanism.

For different loads and road conditions, it can be adapted by choosing shock absorbing springs 1 with different elastic coefficients, or by properly adjusting the distance between the upper foot plate 7 and the sole plate 3 through the locknut 2, such as heavy load or serious unevenness of the road surface Among them, a shock absorbing spring with a larger elastic coefficient can be selected for use or the distance between the foot plate 7 and the sole plate 3 is slightly larger, so that the impact force can be effectively absorbed.

Below in conjunction with accompanying drawing 1 further elaborate the working principle and process of the present embodiment:

This embodiment is installed on the feet of the quadruped robot through the upper foot plate 7 . When the robot moved to an uneven road surface, the three anti-skid pads 4 on the sole plate 7 could improve enough frictional force for the robot movement, and the upper foot plate 7 and the hexagon socket bolts could be made The relative movement between 8 can adapt to various terrains and can still maintain the balance of the fuselage when encountering small obstacles, effectively absorbing the impact force, which is conducive to the adjustment of the robot's attitude, improving the robot's ability to adapt to complex ground and the life of the robot components .

The above-mentioned embodiments of the present utility model are only examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. All modifications, equivalent replacements and improvements made within the spirit and principles of the utility model shall be included in the protection scope of the claims of the utility model.

Claims (9)

1. A kind of 1. adaptive vola mechanism of quadruped robot, it is characterised in that：From top to bottom include upper sole (7) and sole (3), it is connected between the upper sole (7) and sole (3) by some equally distributed hexagon socket head cap screws (8), in every The damping spring (1) being cased with hex bolts (8) between upper sole (7) and sole (3)；Every hexagon socket head cap screw (8) it is flexibly connected by plain radial bearing (6) with the upper sole (7).
2. 2. the adaptive vola mechanism of quadruped robot according to claim 1, it is characterised in that：The upper sole (7) It is connected between sole (3) by three equally distributed hexagon socket head cap screws (8).
3. 3. the adaptive vola mechanism of quadruped robot according to claim 1, it is characterised in that：The sole (3) It is installed on by variable-diameter block (5) on the hexagon socket head cap screw (8), the variable-diameter block (5) is fixed with and the interior hexagonal spiral shell up and down Bolt (8) matched stop nut (2).
4. 4. the adaptive vola mechanism of quadruped robot according to claim 1, it is characterised in that：The sole (3) bottom surface is evenly arranged with some replaceable slip-proofing devices.
5. 5. the adaptive vola mechanism of quadruped robot according to claim 4, it is characterised in that：The slip-proofing device Including three pieces of columnar non-slip mats (4), the non-slip mat (4) is uniformly distributed in triangle.
6. 6. the adaptive vola mechanism of quadruped robot according to claim 5, it is characterised in that：The non-slip mat (4) rubber antiskid pad, PVC non-slip mats, PU non-slip mats, AB glue non-slip mat, silica-gel antiskid pad or magic power glue non-slip mat are used.
7. 7. the adaptive vola mechanism of quadruped robot according to claim 1, it is characterised in that：The upper sole (7) and on sole (3) hollow-out parts for mitigating dead weight are both provided with.
8. 8. the adaptive vola mechanism of quadruped robot according to claim 1, it is characterised in that：The sole (3) it is circular plate-like shape structure.
9. 9. the adaptive vola mechanism of quadruped robot according to claim 1, it is characterised in that：The upper sole (7) and sole (3) is aluminum alloy materials.